EP2367649B1 - Tete de support pour la manipulation d'un tube de poche - Google Patents

Tete de support pour la manipulation d'un tube de poche Download PDF

Info

Publication number
EP2367649B1
EP2367649B1 EP09763843A EP09763843A EP2367649B1 EP 2367649 B1 EP2367649 B1 EP 2367649B1 EP 09763843 A EP09763843 A EP 09763843A EP 09763843 A EP09763843 A EP 09763843A EP 2367649 B1 EP2367649 B1 EP 2367649B1
Authority
EP
European Patent Office
Prior art keywords
shroud
head
tube
support head
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09763843A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2367649A1 (fr
Inventor
Damien Delsine
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vesuvius Group SA
Original Assignee
Vesuvius Group SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vesuvius Group SA filed Critical Vesuvius Group SA
Priority to SI200930496T priority Critical patent/SI2367649T1/sl
Priority to PL09763843T priority patent/PL2367649T3/pl
Priority to EP09763843A priority patent/EP2367649B1/fr
Publication of EP2367649A1 publication Critical patent/EP2367649A1/fr
Application granted granted Critical
Publication of EP2367649B1 publication Critical patent/EP2367649B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0007—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby for engines, motor-vehicles or bicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms

Definitions

  • the present invention relates to a casting installation, in particular a device for introducing a pocket tube into such an installation.
  • a pocket tube is a tube comprising a channel extending along an axis, vertical when the tube is in the position of use, the channel allowing the passage of a liquid metal from a metallurgical vessel, such as a pocket , up to a dispatcher.
  • the tube When in its position of use, the tube comprises an upper end in contact with an upstream element of the installation, integral with the pocket, and a lower end immersed in a tundish.
  • a handling device of a pocket tube comprising a manipulator arm manually moved by an operator, the arm comprising at one end a clamp adapted to be placed around the tube and to grip it , the gripper coming to grip the tube to move it and introduce it into the casting installation.
  • the tube is grasped by the manipulator arm, so that it is placed with a totally random angular orientation relative to this arm unless the operator presents the tube to the manipulator arm in a particular orientation .
  • Such a device makes it possible to introduce the tube into the casting installation satisfactorily. However, such a device is not optimal when it comes to reducing the costs related to the casting.
  • the subject of the invention is a support head capable of supporting a liquid metal casting pocket tube comprising a channel for the passage of the metal extending essentially along an axis, the support head being provided for a device for handling the tube and comprising means for controlling the angular orientation of the tube relative to the head, along an axis corresponding to the axis of the channel.
  • the orientation of the tube vis-à-vis a handling device comprising the support head can be easily determined.
  • the device performs a similar movement at each step of introducing the tube into the casting installation, it is also possible to determine the orientation in which the tube is introduced relative to the casting installation, particularly with respect to the upstream element of the installation. With such a support head, it is therefore possible to orient the tube as desired with respect to the casting installation.
  • the tube in the case where the tube can be gripped in several directions by the handling device comprising the support head, the latter allows to introduce the same tube in several directions in the casting installation. This also distributes the wear of the inner wall of the tube, since the flow flowing from the pocket is generally slightly oriented and some portions of walls wear out faster than the rest of the it. Similarly, when the tube is introduced by sliding in the casting installation, this makes it possible to standardize the wear of the sliding contact surface against an upstream element of the installation, certain zones having a predetermined position relative to the upstream element of the plant wear out faster than the rest of the surface. The life of the tube is extended and can be used the same tube a greater number of times without risking premature failure of the pocket tube.
  • the subject of the invention is also a device for handling a pocket tube for pouring liquid metal, the device comprising a support head according to the invention and means for moving the head, as well as driving means. displacement means and, preferably, control means of the drive means.
  • the introduction of the tube into the casting installation can be performed automatically, which avoids the difficulties of manipulation of the arm by the operator and accidents due to human error.
  • the insertion time of the pocket tube in the installation can be decreased.
  • the invention also relates to a pocket tube for liquid metal casting comprising a channel for the passage of the metal extending substantially along an axis, characterized in that it comprises means for controlling the angular orientation of the tube relative to a support head according to the invention, along an axis corresponding to the axis of the channel, these means being able to cooperate with the complementary means of the head.
  • the tube means may also comprise a relief extending substantially along the axis of the channel and having an invariant cross section relative to this direction, this relief being adapted to cooperate with a notch of the head as defined previously.
  • the tube may also comprise a return surface, preferably facing a lower end of the tube when the latter is in a position of use, in which the axis of the channel is vertical, this surface being able to abut with a surface of complementary shape of the support head according to one embodiment of the invention.
  • the tube control means may comprise at least three control elements. This can in particular make it possible to orient the tube in several orientations relative to the support head. The wear of the inner wall and an upper surface thereof in contact with an upstream element of the installation can therefore be better distributed, as explained above.
  • the invention also relates to an assembly of a handling device according to the invention and a pocket tube according to the invention.
  • the tube 12 comprises a channel for the passage of the metal, extending substantially along an axis, vertical when the tube 12 is in position of use, such a position being shown in figure 1 .
  • the tube is waiting in a storage device 56.
  • the handling device comprises a base 14, a first displacement arm 16 and a second displacement arm 18 disposed at the end of the first arm 16.
  • a support head 20 is put in place on the device 10 at the end of the second moving arm 18.
  • the handling device 10 comprises connecting means 22, 24, 26 respectively for connecting the base 14 to the first movement arm 18, the first movement arm 16 to the second movement arm 18, and the second movement arm 18. at the support head 20.
  • the connecting means 22, 24, 26 are constituted by ball joints which allow each movable element (respectively the first arm 16, the second arm 18 and the support head 20) to perform a rotation in any axis relative to the reference element (respectively the base 14, the first arm 16 and the second arm 18).
  • the two arms 16 and 18 and the connecting means 22, 24, 26 form means for moving the support head 20.
  • the device also comprises means for driving the displacement means (not shown in the figure) constituted by example by a motor, and means for controlling the displacement means allowing an operator to control the movements of the arm 16 relative to the base, the arm 18 relative to the arm 16 and the support head 20 relative to the arm 18.
  • the arms 16, 18 and the support head 20 are controlled so that the support head always remains substantially horizontal.
  • the support head is fork-shaped and includes two essentially parallel lateral arms 28a, 28b.
  • the two arms 28a, 28b are not movable relative to each other and are therefore able to give the head a single orientation. Between these two arms 28a, 28b is defined a space 29, sized to accommodate a pocket tube, such as the tube 12.
  • Each arm 28a, 28b has a substantially parallelepipedal section and includes in particular a horizontal upper surface 30, and outer 32 and inner 34 vertical surfaces.
  • the support head 20 comprises two notches 36a, 36b, each notch being provided on the inner surface 34 of a separate arm 28a, 28b.
  • the notches extend essentially in a direction perpendicular to the axis along which the arms extend, in particular a vertical direction when the support head 20 is in the position of use.
  • the direction in which the notches 36a, 36b extend coincides with that of the channel axis when the tube is in the position of use.
  • the notches 36a, 36b extend from the upper surface 30 to the lower surface of the support head 20.
  • Each notch 36a, 36b has, in the vertical direction when the support head is in the use position, a flared end 38.
  • This flared end 38 is formed in particular by two chamfers, formed at the upper end in the vertical direction of portions of the inner surface 32 delimiting the notches 36a, 36b.
  • the notches 36a, 36b form means for controlling the angular orientation of the tube 12 along an axis thereof corresponding to the axis of the channel when the head and the tube are in the position of use, these notches being adapted to cooperate with the tube in a manner to be described below.
  • the pocket tube 12 will now be described with reference essentially to the figure 3 .
  • the figure 3 represents in particular an upper end of the tube when the latter is in its position of use.
  • the tube 12 comprises a tube body 42 made of a refractory material, and at its upper end, a head 14 of square cross section.
  • the section of the head is of a shape distinct from a cross section of the tube body 42 which has a circular section.
  • the square section of the head 44 is larger than the circular cross-section of the tube body 42 and, therefore, between the head 44 and the tube body 42, the tube pocket 12 comprises a return surface 46 substantially horizontal and facing the lower end of the tube when the tube is in its position of use.
  • a return surface is intended to cooperate with an upper surface 30 of the support head 20 so as to abut with it when the tube is in its position of use.
  • the tube comprises a casing 48 made in one piece and arranged around an end portion of the tube body.
  • This envelope 48 is made of a metallic material and in particular steel and covers the entire head 44 and an upper portion of the tubular portion of the tube.
  • the portion of the metal casing covering the tubular portion of the tube comprises four reliefs or fins 52.
  • Each fin extends substantially along the axis of the channel, that is to say the vertical axis when the tube is in position of use, and has an invariant cross section, in particular of triangular shape.
  • the fins are identical, evenly distributed over a circumference of the tube and are spaced 90 ° apart.
  • Two opposite fins 52 of the tube 12 are able to cooperate with the notches 36a, 36b of the support head 20 and are of complementary shape of these notches. These fins therefore form means for controlling the orientation of the tube relative to the support head 20, the orientation being measured relative to the axis of the channel 40 of the tube 12.
  • each fin 52 can cooperate indifferently with one or other of the notches 36a, 36b. This makes it possible to introduce the tube into the installation according to different orientations.
  • the envelope is also shaped to include an annular portion forming a belt 50 of greater thickness than the rest of the envelope.
  • the belt 50 of the metal casing is formed in the portion in which this envelope covers the head 44.
  • the thickness of the belt is greater than 10 millimeters, preferably 14 millimeters, while the rest of the envelope is thickness between 2 and 7 millimeters, preferably between 4 and 6 millimeters.
  • the tube also comprises notches 54 shaped in the belt 50 of the envelope, especially in the lower part thereof.
  • the notches 54 are each formed on one side of the head 44, in the middle of each side thereof. They are in particular disposed above each fin 52.
  • the notches 54 allow in particular to maintain the head 44 of the tube in a storage device 56 which will be briefly described below. As these notches are four in number and evenly distributed on the tube, the tube can also be placed in different orientations in the storage device.
  • the tube 12 and the handling device 10 are not limited to what has been described above.
  • the support head 20 could consist not of a fork but a clamp comprising two arms movable relative to each other, able to confer on the support head 20 a plurality of configurations.
  • a clamp makes it possible in particular to minimize the clearance between the tube 12 and the support head 20, in particular between the fins 52 and the notches 36a, 36b, once the tube 12 has been put into place in the support head 20.
  • the upper surface of the head 20 does not cooperate with the return surface of the tube.
  • the notch 36a, 36b could for example comprise a bottom, at its end (in the vertical direction when the head is in the use position) opposite the inlet end. This bottom would retain the fins 52 in the notches along the vertical axis when the head and the tube are in the use position.
  • the shape of the means for controlling the orientation of the tube and / or the support head may be different from what has been described, as long as these means cooperate.
  • the moving means of the handling device are not limited to those described above. They may comprise additional links or fewer links, additional movement arms or a single arm.
  • the various links are not necessarily ball joints, in particular the links 24 and 26 may be pivotal links.
  • the arms 16 and 18 are replaced by cylinders that allow to extend the length thereof.
  • the tube may be devoid of notches 54.
  • the retention on the storage device may be performed in another way than described and the tube may for example simply be placed on a bottom of such a device.
  • the tube could also comprise a cross-section head different from that described and / or not include a return surface, in the case where the section of the tube is constant over its entire dimension along the axis of the channel.
  • the element gripped by the support head may also be a casting element comprising a tube and a frame.
  • the tube could be devoid of control means, these means being provided on the frame.
  • the tube before the tube is gripped by the support head 20, it is disposed in the storage device 56 in which it is suspended by means of pins 58 cooperating with at least two opposite notches 54 of the tube.
  • the tube is thus suspended in the storage device 56 by an inlet end thereof and is stored in its position of use.
  • the method comprises a first step in which the support head 20 is approached by a portion of the tube located below the level of the tube control means for introducing the tube into the space 29. defined between the arms 28a, 28b of the head 20.
  • the storage device comprises an open side 60 which provides access to a lateral face of the tube 12 when it is in position. its position of use. The position of the handling device after this step is shown in dashed lines at the figure 1 .
  • the space between the arms 28a, 28b is sized to accommodate this portion of the tube.
  • the support head 20 when the support head 20 is placed in the position shown in dashed lines on the figure 1 it is moved upwards so that the tube control means cooperate with the means of the head, here that the fins 52, in particular the two fins located under the notches 54 through which the tube is suspended, cooperate with the notches 36a, 36b of the tube.
  • the fins 52 first cooperate with the flared inlet 38 of the support head, as seen on the figure 5 . Because of its conformation, this inlet 38 guides the fin 52 to the corresponding notch, respectively 36a, 36b.
  • the fins 52 are housed in the notches 36a, 36b.
  • the support head is further moved upward until the upper surface thereof co-operates with the return surface 46 of the tube.
  • the support head is then placed on the tube as shown in FIG. figure 4 .
  • the tube 12 is then completely retained in the support head 20.
  • the notches 36a, 36b prevent any rotation of the tube and any translation thereof in the horizontal plane.
  • the cooperation of the return surface 46 with the upper surface 30 of the support head 20 prevents the tube 12 from translating vertically downwards. The only movement that the tube could make is a vertical upward translation, which is blocked by the earth's gravity when the tube is in its position of use.
  • the means for controlling the angular orientation of the tube also form retaining means thereof on the support head.
  • the tube 12 is further displaced upwards so as to separate the notches 54 from the pins 58.
  • the notches 54 are not shaped to block the upward movement of the tube and it can therefore be detached from the storage device 56.
  • the tube being free relative to the storage device 56, it can be moved by means of arms 16 and 18 to bring it into a casting installation.
  • This relatively simple method makes it possible to control the orientation in which the tube is brought into the casting installation and can also be completely automated.
  • the method is not limited to what has been described above.
  • the method comprises an additional step of closing the clamp once the notches of the support head and the fins of the tube are in place relative to each other and that the return surface of the tube and the upper surface of the head abut. This step is performed before the tube is detached from the storage device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)
  • Continuous Casting (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Sliding-Contact Bearings (AREA)
  • Coating Apparatus (AREA)
EP09763843A 2008-11-20 2009-11-19 Tete de support pour la manipulation d'un tube de poche Active EP2367649B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SI200930496T SI2367649T1 (sl) 2008-11-20 2009-11-19 Nosilna glava za ravnanje s polnilno pipo
PL09763843T PL2367649T3 (pl) 2008-11-20 2009-11-19 Głowica podporowa do operowania rurą spustową kadzi
EP09763843A EP2367649B1 (fr) 2008-11-20 2009-11-19 Tete de support pour la manipulation d'un tube de poche

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP08169501 2008-11-20
PCT/EP2009/008255 WO2010057646A1 (fr) 2008-11-20 2009-11-19 Tete de support pour la manipulation d'un tube de poche
EP09763843A EP2367649B1 (fr) 2008-11-20 2009-11-19 Tete de support pour la manipulation d'un tube de poche

Publications (2)

Publication Number Publication Date
EP2367649A1 EP2367649A1 (fr) 2011-09-28
EP2367649B1 true EP2367649B1 (fr) 2013-01-02

Family

ID=40364293

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09763843A Active EP2367649B1 (fr) 2008-11-20 2009-11-19 Tete de support pour la manipulation d'un tube de poche

Country Status (22)

Country Link
US (1) US9199306B2 (ja)
EP (1) EP2367649B1 (ja)
JP (1) JP5324662B2 (ja)
KR (1) KR101895075B1 (ja)
CN (1) CN102281968B (ja)
AU (1) AU2009317513B2 (ja)
BR (1) BRPI0922007B1 (ja)
CA (1) CA2742864C (ja)
DK (1) DK2367649T3 (ja)
EG (1) EG26553A (ja)
ES (1) ES2402336T3 (ja)
MX (1) MX2011005340A (ja)
MY (1) MY159636A (ja)
NZ (1) NZ593476A (ja)
PL (1) PL2367649T3 (ja)
PT (1) PT2367649E (ja)
RS (1) RS52689B (ja)
RU (1) RU2524035C2 (ja)
SI (1) SI2367649T1 (ja)
UA (1) UA101075C2 (ja)
WO (1) WO2010057646A1 (ja)
ZA (1) ZA201104533B (ja)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101678705B1 (ko) * 2008-11-20 2016-11-23 베수비우스 그룹, 에스. 에이. 주조 슈라우드, 이 주조 슈라우드를 위한 조작 디바이스 및 밸브 구동용 디바이스
CN102407325B (zh) * 2010-09-21 2014-06-25 上海梅山钢铁股份有限公司 连铸长水口专用托架
AR099467A1 (es) * 2014-02-19 2016-07-27 Vesuvius Group Sa Revestimiento de cuchara de colada para colada de metales, conjunto de partes de conjunto de acoplamiento para acoplar dicho revestimiento de cuchara de colada a una cuchara, instalación de colada de metales y proceso de acoplamiento
CA3046214C (en) 2016-12-09 2022-01-04 Berkshire Grey, Inc. Systems and methods for processing objects provided in vehicles
KR102008703B1 (ko) * 2017-12-18 2019-08-08 주식회사 포스코 연속 주조용 노즐
CN109332621B (zh) * 2018-10-15 2023-08-04 哈尔滨博实自动化股份有限公司 一种适用于连铸台上智能自动化作业的装置
KR20220155428A (ko) * 2020-03-31 2022-11-22 베수비우스 그룹, 에스. 에이. 조작기가 내장된 로봇화된 레이들 수송 장치 시스템
CN112027973B (zh) * 2020-08-19 2022-04-29 武汉力地液压设备有限公司 三维液压系统
CN112388658B (zh) * 2020-11-16 2022-05-13 中国科学技术大学 一种基于液态金属的柔性抓手
WO2023059485A1 (en) 2021-10-06 2023-04-13 Berkshire Grey Operating Company, Inc. Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US307178A (en) * 1884-10-28 Adjustable soldering-forceps
US2352699A (en) * 1942-02-16 1944-07-04 Ennis Earl Work holder
AU531188B2 (en) * 1978-10-30 1983-08-11 Hewson, A.J. Clamp movable in several directions
US4316561A (en) 1980-08-05 1982-02-23 United States Steel Corporation Pour tube latching apparatus
JPS5950959A (ja) 1982-09-17 1984-03-24 Nippon Steel Corp 鋳造用具の脱着装置
DE3332186C1 (de) 1983-09-07 1984-12-13 Didier Werke Ag Vorrichtung zum Anschliessen und Auswechseln von Giessrohren
DE3506427A1 (de) 1985-02-23 1986-09-04 Stopinc Ag, Baar Vorrichtung zum auswechselbaren anschliessen eines giessrohrs an den ausguss eines metallschmelze enthaltenden behaelters
US4787591A (en) * 1986-08-29 1988-11-29 Villacorta Gilberto M Laboratory clamp
JPH0428688Y2 (ja) * 1987-10-13 1992-07-13
US4943039A (en) * 1989-03-13 1990-07-24 Jackson Ronald E Adjustable clamp
JP2907443B2 (ja) 1989-06-02 1999-06-21 ユニチカ株式会社 伸縮羊毛糸の製造方法
SU1696114A1 (ru) * 1989-10-11 1991-12-07 Производственное объединение "Уралмаш" Устройство дл замены разливочного стакана промежуточного ковша машины непрерывного лить заготовок
JP3250771B2 (ja) 1993-12-16 2002-01-28 黒崎播磨株式会社 溶融金属流出用耐火物の支持金物
JP2798610B2 (ja) * 1994-08-10 1998-09-17 品川白煉瓦株式会社 浸漬ノズルの取付け取外し装置
JP3212071B2 (ja) * 1995-10-20 2001-09-25 東芝セラミックス株式会社 浸漬ノズルのハンドリング装置
JP3168157B2 (ja) * 1996-01-23 2001-05-21 住友重機械工業株式会社 連続鋳造機のロングノズル着脱装置
FR2745211B1 (fr) * 1996-02-22 1998-04-30 Vesuvius France Sa Repartiteur equipe d'un changeur de tube et plaque pour le changeur de tube
US5819844A (en) * 1996-07-31 1998-10-13 Vesuvius Crucible Company Beaver-tail tube assembly and tube changing method
KR200247699Y1 (ko) * 1997-05-28 2002-01-15 이구택 슈라우드노즐의 교환장치
AT4596U1 (de) * 2000-08-11 2001-09-25 Veitsch Radex Gmbh Ausziehvorrichtung
KR100916101B1 (ko) * 2002-09-06 2009-09-11 주식회사 포스코 쉬라우드 노즐과 콜렉타 노즐의 자동 연결장치
US6769788B1 (en) * 2003-01-27 2004-08-03 Jeffrey Keith Kellough Flashlight sleeve
US7621495B2 (en) * 2005-02-16 2009-11-24 Li Young Chemical reactor clamp
AT502058B1 (de) * 2005-06-20 2007-11-15 Voest Alpine Ind Anlagen Stranggiessanlage mit mindestens einem multifunktions-roboter
DE202007019010U1 (de) * 2007-07-11 2010-04-22 Oeffner, Patrick Haltevorrichtung für Einhandbedienung
DE102007042422B4 (de) * 2007-09-06 2023-01-26 Bayerische Motoren Werke Aktiengesellschaft Positioniersystem
BRPI0922003A2 (pt) * 2008-11-20 2015-12-15 Vesuvius Group Sa dispositivo de transporte e armazenamentode pelo menos um tubo de caçamba para uma instalação de lingotamento de metal líquido , tubo de caçamba, instalação de armazenamento de tubos de caçamba e processo de lingotamentode metal líquido.
RS52686B (en) * 2008-11-20 2013-08-30 Vesuvius Group S.A LIQUID PIPE PIPE FOR LIQUID METAL MACHINE
JP2010221279A (ja) * 2009-03-24 2010-10-07 Kurosaki Harima Corp 連続鋳造用ノズルの支持装置及び支持方法並びにスライディングノズル設備及び連続鋳造用ノズル

Also Published As

Publication number Publication date
ES2402336T3 (es) 2013-04-30
PL2367649T3 (pl) 2013-05-31
JP2012509188A (ja) 2012-04-19
DK2367649T3 (da) 2013-04-02
NZ593476A (en) 2012-11-30
EP2367649A1 (fr) 2011-09-28
AU2009317513B2 (en) 2014-09-11
CA2742864C (fr) 2016-08-23
CN102281968A (zh) 2011-12-14
RU2011124591A (ru) 2012-12-27
WO2010057646A1 (fr) 2010-05-27
ZA201104533B (en) 2012-09-26
BRPI0922007B1 (pt) 2017-03-28
UA101075C2 (uk) 2013-02-25
MY159636A (en) 2017-01-13
RU2524035C2 (ru) 2014-07-27
JP5324662B2 (ja) 2013-10-23
AU2009317513A1 (en) 2011-07-07
KR101895075B1 (ko) 2018-09-04
US9199306B2 (en) 2015-12-01
EG26553A (en) 2014-02-16
US20110227267A1 (en) 2011-09-22
BRPI0922007A2 (pt) 2015-12-15
SI2367649T1 (sl) 2013-03-29
KR20110085000A (ko) 2011-07-26
CA2742864A1 (fr) 2010-05-27
MX2011005340A (es) 2011-06-16
PT2367649E (pt) 2013-04-04
CN102281968B (zh) 2014-10-08
RS52689B (en) 2013-08-30

Similar Documents

Publication Publication Date Title
EP2367649B1 (fr) Tete de support pour la manipulation d'un tube de poche
EP2367651B1 (fr) Tube de coulee, dispositif de manipulation de ce tube et dispositif d'entrainement d'une valve
WO2007110514A1 (fr) Support dit orbital comprenant au moins deux pieces en forme de segment de cercle raccordables l'une a l'autre; dispositif de soudage bout a bout de conduits pour former une canalisation de type pipeline comprenant un tel support orbital
EP2367650A1 (fr) Dispositif de transport et stockage pour un tube de poche pour transfert de metal liquide
EP0223666B1 (fr) Dispositif et méthode de mise en place et de connexion à distance d'une extrémité d'un élément allongé à un connecteur
FR2507520A1 (fr) Pince pour dispositif de levage destine a la manutention de pieces
WO2013060962A1 (fr) Dispositif support de positionnement pour cables le long de conduits de type pipeline immerges
LU86272A1 (fr) Installation automatisee pour briqueter la paroi interieure d'une enceint
CA2742862C (fr) Tube de poche pour installation de coulee de metal liquide
CA2742638C (fr) Element de coulee reutilisable
CA2748543A1 (fr) Dispositif d'attache de recipients pour collecter des debris solides et pivotant a l'extremite d'un bras mobile, en particulier dispositif d'attache des godets articules d'une pelle a croute
EP0248251A1 (fr) Installation automatisée pour briqueter la paroi intérieure d'une enceinte
EP2097210B1 (fr) Procede et systeme de positionnement d'une piece sur une chaine d'assemblage et de fabrication
EP3227223A1 (fr) Dispositif compact de levage d'une charge sécurisé pour son transport sur fourches
EP0463913A1 (fr) Dispositif de manutention automatique de plusieurs éléments de positionnement et/ou de liaison
EP3578910B1 (fr) Dispositif de maintien en position d'une pièce pour traitement thermique pour fours verticaux
EP2301693A1 (fr) Tube de protection de jet.
FR2502600A3 (fr) Appareil destine a saisir des futs a contenu fortement radioactif ouverts ou fermes par un couvercle
FR3122844A1 (fr) Outil préhenseur pour bac de batterie de véhicule automobile
FR2517582A1 (fr) Installation pour la manipulation de supports de pieces dans des postes de travail
WO2017115122A1 (fr) Dispositif de manutention d'une piece
FR2833401A1 (fr) Procede et dispositif de blocage d'un assemblage combustible nucleaire dans un logement
FR2813597A1 (fr) Dispositif d'installation de longues pieces cylindriques dans une tranchee etroite
EP2852956A1 (fr) Dispositif de stockage
EP2191918A1 (fr) Dispositif de nettoyage d'un tube de poche pour coulée de métal liquide

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20110620

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

AX Request for extension of the european patent

Extension state: RS

RAX Requested extension states of the european patent have changed

Extension state: RS

Payment date: 20110620

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: B22D 41/50 20060101ALI20120615BHEP

Ipc: B22D 41/56 20060101ALI20120615BHEP

Ipc: B22D 11/106 20060101AFI20120615BHEP

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

AX Request for extension of the european patent

Extension state: RS

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 591305

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130115

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602009012509

Country of ref document: DE

Effective date: 20130228

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

REG Reference to a national code

Ref country code: RO

Ref legal event code: EPE

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20130328

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20130102

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2402336

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20130430

REG Reference to a national code

Ref country code: GR

Ref legal event code: EP

Ref document number: 20130400370

Country of ref document: GR

Effective date: 20130327

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

REG Reference to a national code

Ref country code: SK

Ref legal event code: T3

Ref document number: E 13609

Country of ref document: SK

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130502

REG Reference to a national code

Ref country code: HU

Ref legal event code: AG4A

Ref document number: E016415

Country of ref document: HU

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

26N No opposition filed

Effective date: 20131003

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602009012509

Country of ref document: DE

Effective date: 20131003

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20131119

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DK

Payment date: 20141126

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BG

Payment date: 20141126

Year of fee payment: 6

Ref country code: NO

Payment date: 20141128

Year of fee payment: 6

Ref country code: GR

Payment date: 20141126

Year of fee payment: 6

Ref country code: RO

Payment date: 20141110

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SI

Payment date: 20141103

Year of fee payment: 6

Ref country code: PT

Payment date: 20141103

Year of fee payment: 6

Ref country code: HU

Payment date: 20141107

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: MK

Payment date: 20141119

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20130102

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

REG Reference to a national code

Ref country code: PT

Ref legal event code: MM4A

Free format text: LAPSE DUE TO NON-PAYMENT OF FEES

Effective date: 20160519

REG Reference to a national code

Ref country code: NO

Ref legal event code: MMEP

Ref country code: DK

Ref legal event code: EBP

Effective date: 20151130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160602

Ref country code: NO

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151120

Ref country code: HU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151120

Ref country code: RO

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151119

Ref country code: PT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160519

REG Reference to a national code

Ref country code: SI

Ref legal event code: KO00

Effective date: 20160713

REG Reference to a national code

Ref country code: GR

Ref legal event code: ML

Ref document number: 20130400370

Country of ref document: GR

Effective date: 20160602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160630

Ref country code: DK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151130

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SK

Payment date: 20171102

Year of fee payment: 9

Ref country code: FI

Payment date: 20171129

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20151120

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181119

REG Reference to a national code

Ref country code: SK

Ref legal event code: MM4A

Ref document number: E 13609

Country of ref document: SK

Effective date: 20181119

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181119

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: LU

Payment date: 20191127

Year of fee payment: 11

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201119

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230524

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20231126

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231127

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20231201

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20231106

Year of fee payment: 15

Ref country code: SE

Payment date: 20231127

Year of fee payment: 15

Ref country code: IT

Payment date: 20231122

Year of fee payment: 15

Ref country code: FR

Payment date: 20231127

Year of fee payment: 15

Ref country code: DE

Payment date: 20231129

Year of fee payment: 15

Ref country code: CZ

Payment date: 20231102

Year of fee payment: 15

Ref country code: CH

Payment date: 20231201

Year of fee payment: 15

Ref country code: AT

Payment date: 20231102

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20231102

Year of fee payment: 15

Ref country code: BE

Payment date: 20231127

Year of fee payment: 15